CaService Class Reference

#include <CaService.h>

Public Member Functions
bool	CarlaActorInitialized () const
	CaService (URandomEngine *random_engine)
CAM_t	GetCamMessage () const
void	SetAccelerationStandardDeviation (const FVector &Vec)
void	SetActor (UWorld *world, AActor *Owner)
void	SetGNSSDeviation (const float noise_lat_stddev, const float noise_lon_stddev, const float noise_alt_stddev, const float noise_head_stddev, const float noise_lat_bias, const float noise_lon_bias, const float noise_alt_bias, const float noise_head_bias)
void	SetParams (const float GenCamMin, const float GenCamMax, const bool FixedRate)
void	SetVelDeviation (const float noise_vel_stddev_x)
void	SetYawrateDeviation (const float noise_yawrate_stddev, const float noise_yawrate_bias)
bool	Trigger (float DeltaSeconds)

Private Member Functions
void	AddBasicContainer (CAMContainer::BasicContainer_t &BasicContainer)
void	AddBasicVehicleContainerHighFrequency (CAMContainer::HighFrequencyContainer_t &hfc, float DeltaTime)
void	AddCooperativeAwarenessMessage (CAMContainer::CoopAwareness_t &CoopAwarenessMessage, float DeltaTime)
void	AddLowFrequencyContainer (CAMContainer::LowFrequencyContainer_t &lfc)
void	AddRSUContainerHighFrequency (CAMContainer::HighFrequencyContainer_t &hfc)
ITSContainer::SpeedValue_t	BuildSpeedValue (const float vel) const
bool	CheckHeadingDelta (float DeltaSeconds)
bool	CheckPositionDelta (float DeltaSeconds)
bool	CheckSpeedDelta (float DeltaSeconds)
bool	CheckTriggeringConditions (float DeltaSeconds)
carla::geom::Vector3D	ComputeAccelerometer (const float DeltaTime)
const carla::geom::Vector3D	ComputeAccelerometerNoise (const FVector &Accelerometer) const
float	ComputeSpeed () const
const float	ComputeYawNoise (const FVector &Gyroscope) const
float	ComputeYawRate () const
CAM_t	CreateCooperativeAwarenessMessage (float DeltaTime)
void	CreateITSPduHeader (CAM_t &message)
void	GenerateCamMessage (float DeltaTime)
double	GetFVectorAngle (const FVector &a, const FVector &b) const
float	GetHeading () const
FVector	GetReferencePosition () const
ITSContainer::StationType_t	GetStationType () const
long	GetVehicleRole () const

Private Attributes
float	AltitudeBias
float	AltitudeDeviation
carla::geom::GeoProjection	CurrentGeoProjection
float	HeadingBias
float	HeadingDeviation
float	LatitudeBias
float	LatitudeDeviation
float	LongitudeBias
float	LongitudeDeviation
AActor *	mActorOwner {nullptr}
CAM_t	mCAMMessage
FCarlaActor *	mCarlaActor {nullptr}
UCarlaEpisode *	mCarlaEpisode {nullptr}
bool	mDccRestriction
double	mElapsedTime
bool	mFixedRate
float	mGenCam
unsigned int	mGenCamLowDynamicsCounter {0}
unsigned int	mGenCamLowDynamicsLimit {3}
float	mGenCamMax
float	mGenCamMin
float	mGenDeltaTimeMod
std::chrono::milliseconds	mGenerationDelta0
float	mGenerationInterval
FVector	mLastCamHeading
FVector	mLastCamPosition
float	mLastCamSpeed
float	mLastCamTimeStamp
float	mLastLowCamTimeStamp
const long	mMessageId = ITSContainer::messageID_cam
const long	mProtocolVersion = 2
URandomEngine *	mRandomEngine
long	mStationId
long	mStationType
ACarlaWheeledVehicle *	mVehicle {nullptr}
UWorld *	mWorld {nullptr}
float	PrevDeltaTime
	Used to compute the acceleration.
std::array< FVector, 2 >	PrevLocation
	Used to compute the acceleration.
FVector	StdDevAccel
	Standard deviation for acceleration settings.
FVector	VehicleHeading
FVector	VehiclePosition
float	VehicleSpeed
float	VelocityDeviation
float	YawrateBias
float	YawrateDeviation

Detailed Description

Definition at line 21 of file CaService.h.

Constructor & Destructor Documentation

CaService()

CaService::CaService

(

URandomEngine *

random_engine

)

Definition at line 41 of file CaService.cpp.

References mGenerationDelta0, and mRandomEngine.

Member Function Documentation

AddBasicContainer()

void CaService::AddBasicContainer ( CAMContainer::BasicContainer_t &  BasicContainer )

private

Definition at line 453 of file CaService.cpp.

References ITSContainer::ReferencePosition::altitude, ITSContainer::Altitude::altitudeConfidence, ITSContainer::AltitudeConfidence_unavailable, ITSContainer::Altitude::altitudeValue, ITSContainer::AltitudeValue_oneCentimeter, GetReferencePosition(), ITSContainer::HeadingValue_unavailable, ITSContainer::ReferencePosition::latitude, ITSContainer::Latitude_oneMicroDegreeNorth, ITSContainer::ReferencePosition::longitude, ITSContainer::Longitude_oneMicroDegreeEast, mStationType, ITSContainer::ReferencePosition::positionConfidenceEllipse, CAMContainer::BasicContainer::referencePosition, ITSContainer::SemiAxisLength_unavailable, ITSContainer::PosConfidenceEllipse::semiMajorConfidence, ITSContainer::PosConfidenceEllipse::semiMajorOrientation, ITSContainer::PosConfidenceEllipse::semiMinorConfidence, and CAMContainer::BasicContainer::stationType.

Referenced by AddCooperativeAwarenessMessage().

AddBasicVehicleContainerHighFrequency()

void CaService::AddBasicVehicleContainerHighFrequency ( CAMContainer::HighFrequencyContainer_t &  hfc, float  DeltaTime  )

private

Definition at line 503 of file CaService.cpp.

References ITSContainer::AccelerationConfidence_unavailable, CAMContainer::BasicVehicleContainerHighFrequency::accelerationControlAvailable, CAMContainer::HighFrequencyContainer::basicVehicleContainerHighFrequency, BuildSpeedValue(), CAMContainer::BasicVehicleContainerHighFrequency::cenDsrcTollingZoneAvailable, ComputeAccelerometer(), ComputeSpeed(), ComputeYawRate(), CAMContainer::BasicVehicleContainerHighFrequency::curvature, CAMContainer::BasicVehicleContainerHighFrequency::curvatureCalculationMode, ITSContainer::CurvatureCalculationMode_yarRateUsed, ITSContainer::Curvature::curvatureConfidence, ITSContainer::CurvatureConfidence_unavailable, ITSContainer::Curvature::curvatureValue, ITSContainer::CurvatureValue_unavailable, CAMContainer::BasicVehicleContainerHighFrequency::driveDirection, ITSContainer::DriveDirection_backward, ITSContainer::DriveDirection_forward, UBoundingBoxCalculator::GetActorBoundingBox(), GetHeading(), ACarlaWheeledVehicle::GetVehicleForwardSpeed(), CAMContainer::BasicVehicleContainerHighFrequency::heading, ITSContainer::Heading::headingConfidence, ITSContainer::HeadingConfidence_equalOrWithinOneDegree, ITSContainer::Heading::headingValue, CAMContainer::HighFrequencyContainer_PR_basicVehicleContainerHighFrequency, CAMContainer::BasicVehicleContainerHighFrequency::lanePositionAvailable, CAMContainer::BasicVehicleContainerHighFrequency::lateralAcceleration, CAMContainer::BasicVehicleContainerHighFrequency::lateralAccelerationAvailable, ITSContainer::LateralAcceleration::lateralAccelerationConfidence, ITSContainer::LateralAcceleration::lateralAccelerationValue, ITSContainer::LateralAccelerationValue_pointOneMeterPerSecSquaredToLeft, ITSContainer::LateralAccelerationValue_unavailable, CAMContainer::BasicVehicleContainerHighFrequency::longitudinalAcceleration, ITSContainer::LongitudinalAcceleration::longitudinalAccelerationConfidence, ITSContainer::LongitudinalAcceleration::longitudinalAccelerationValue, ITSContainer::LongitudinalAccelerationValue_pointOneMeterPerSecSquaredForward, ITSContainer::LongitudinalAccelerationValue_unavailable, mActorOwner, mVehicle, CAMContainer::BasicVehicleContainerHighFrequency::performanceClassAvailable, CAMContainer::HighFrequencyContainer::present, CAMContainer::BasicVehicleContainerHighFrequency::speed, ITSContainer::speed::speedConfidence, ITSContainer::SpeedConfidence_equalOrWithInOneCentimerterPerSec, ITSContainer::speed::speedValue, CAMContainer::BasicVehicleContainerHighFrequency::steeringWheelAngleAvailable, carla::geom::Math::ToDegrees(), CAMContainer::BasicVehicleContainerHighFrequency::vehicleLength, ITSContainer::VehicleLength::vehicleLengthConfidenceIndication, ITSContainer::VehicleLengthConfidenceIndication_unavailable, ITSContainer::VehicleLength::vehicleLengthValue, CAMContainer::BasicVehicleContainerHighFrequency::vehicleWidth, CAMContainer::BasicVehicleContainerHighFrequency::verticalAcceleration, CAMContainer::BasicVehicleContainerHighFrequency::verticalAccelerationAvailable, ITSContainer::VerticalAcceleration::verticalAccelerationConfidence, ITSContainer::VerticalAcceleration::verticalAccelerationValue, ITSContainer::VerticalAccelerationValue_pointOneMeterPerSecSquaredUp, ITSContainer::VerticalAccelerationValue_unavailable, carla::geom::Vector3D::x, carla::geom::Vector3D::y, CAMContainer::BasicVehicleContainerHighFrequency::yawRate, ITSContainer::YawRate::yawRateConfidence, ITSContainer::YawRateConfidence_unavailable, ITSContainer::YawRate::yawRateValue, ITSContainer::YawRateValue_degSec_000_01ToLeft, ITSContainer::YawRateValue_unavailable, and carla::geom::Vector3D::z.

Referenced by AddCooperativeAwarenessMessage().

AddCooperativeAwarenessMessage()

void CaService::AddCooperativeAwarenessMessage ( CAMContainer::CoopAwareness_t &  CoopAwarenessMessage, float  DeltaTime  )

private

Definition at line 416 of file CaService.cpp.

References AddBasicContainer(), AddBasicVehicleContainerHighFrequency(), AddLowFrequencyContainer(), AddRSUContainerHighFrequency(), CAMContainer::CamParameters::basicContainer, CAMContainer::CoopAwareness::camParameters, CAMContainer::CoopAwareness::generationDeltaTime, CAMContainer::GenerationDeltaTime_oneMilliSec, UCarlaEpisode::GetElapsedGameTime(), CAMContainer::CamParameters::highFrequencyContainer, CAMContainer::CamParameters::lowFrequencyContainer, CAMContainer::LowFrequencyContainer_PR_NOTHING, mCarlaEpisode, mElapsedTime, mGenerationDelta0, mLastLowCamTimeStamp, CAMContainer::LowFrequencyContainer::present, scLowFrequencyContainerInterval, CAMContainer::BasicContainer::stationType, ITSContainer::StationType_pedestrian, ITSContainer::StationType_roadSideUnit, and ITSContainer::StationType_unknown.

Referenced by CreateCooperativeAwarenessMessage().

AddLowFrequencyContainer()

void CaService::AddLowFrequencyContainer ( CAMContainer::LowFrequencyContainer_t &  lfc )

private

Definition at line 744 of file CaService.cpp.

References CAMContainer::LowFrequencyContainer::basicVehicleContainerLowFrequency, CAMContainer::BasicVehicleContainerLowFrequency::exteriorLights, ITSContainer::ExteriorLights_fogLightOn, ITSContainer::ExteriorLights_highBeamHeadlightsOn, ITSContainer::ExteriorLights_leftTurnSignalOn, ITSContainer::ExteriorLights_lowBeamHeadlightsOn, ITSContainer::ExteriorLights_parkingLightsOn, ITSContainer::ExteriorLights_reverseLightOn, ITSContainer::ExteriorLights_rightTurnSignalOn, FVehicleLightState::Fog, ACarlaWheeledVehicle::GetVehicleLightState(), GetVehicleRole(), FVehicleLightState::HighBeam, FVehicleLightState::LeftBlinker, FVehicleLightState::LowBeam, CAMContainer::LowFrequencyContainer_PR_basicVehicleContainerLowFrequency, mVehicle, ITSContainer::PathHistory::NumberOfPathPoint, CAMContainer::BasicVehicleContainerLowFrequency::pathHistory, FVehicleLightState::Position, CAMContainer::LowFrequencyContainer::present, FVehicleLightState::Reverse, FVehicleLightState::RightBlinker, and CAMContainer::BasicVehicleContainerLowFrequency::vehicleRole.

Referenced by AddCooperativeAwarenessMessage().

AddRSUContainerHighFrequency()

void CaService::AddRSUContainerHighFrequency ( CAMContainer::HighFrequencyContainer_t &  hfc )

private

Definition at line 722 of file CaService.cpp.

References ITSContainer::ProtectedCommunicationZonesRSU::data, ITSContainer::ProtectedCommunicationZone::expiryTimeAvailable, CAMContainer::HighFrequencyContainer_PR_rsuContainerHighFrequency, CAMContainer::HighFrequencyContainer::present, ITSContainer::ProtectedCommunicationZonesRSU::ProtectedCommunicationZoneCount, CAMContainer::RSUContainerHighFrequency::protectedCommunicationZonesRSU, ITSContainer::ProtectedCommunicationZone::protectedZoneIDAvailable, ITSContainer::ProtectedCommunicationZone::protectedZoneLatitude, ITSContainer::ProtectedCommunicationZone::protectedZoneLongitude, ITSContainer::ProtectedCommunicationZone::protectedZoneRadiusAvailable, ITSContainer::ProtectedCommunicationZone::protectedZoneType, ITSContainer::ProtectedZoneType_cenDsrcTolling, and CAMContainer::HighFrequencyContainer::rsuContainerHighFrequency.

Referenced by AddCooperativeAwarenessMessage().

BuildSpeedValue()

ITSContainer::SpeedValue_t CaService::BuildSpeedValue ( const float  vel ) const

private

Definition at line 23 of file CaService.cpp.

References ITSContainer::SpeedValue_oneCentimeterPerSec, and ITSContainer::SpeedValue_unavailable.

Referenced by AddBasicVehicleContainerHighFrequency().

CarlaActorInitialized()

bool CaService::CarlaActorInitialized ( ) const

inline

Definition at line 41 of file CaService.h.

References mCarlaActor.

CheckHeadingDelta()

bool CaService::CheckHeadingDelta ( float  DeltaSeconds )

private

Definition at line 790 of file CaService.cpp.

References GetFVectorAngle(), ACarlaWheeledVehicle::GetVehicleOrientation(), mLastCamHeading, mVehicle, carla::geom::Math::ToDegrees(), and VehicleHeading.

Referenced by CheckTriggeringConditions().

CheckPositionDelta()

bool CaService::CheckPositionDelta ( float  DeltaSeconds )

private

Definition at line 200 of file CaService.cpp.

References mLastCamPosition, mVehicle, and VehiclePosition.

Referenced by CheckTriggeringConditions().

CheckSpeedDelta()

bool CaService::CheckSpeedDelta ( float  DeltaSeconds )

private

Definition at line 214 of file CaService.cpp.

References ACarlaWheeledVehicle::GetVehicleForwardSpeed(), mLastCamSpeed, mVehicle, and VehicleSpeed.

Referenced by CheckTriggeringConditions().

CheckTriggeringConditions()

bool CaService::CheckTriggeringConditions ( float  DeltaSeconds )

private

Definition at line 164 of file CaService.cpp.

References CheckHeadingDelta(), CheckPositionDelta(), CheckSpeedDelta(), GenerateCamMessage(), mDccRestriction, mElapsedTime, mFixedRate, mGenCam, mGenCamLowDynamicsCounter, mGenCamLowDynamicsLimit, mGenCamMax, mGenCamMin, and mLastCamTimeStamp.

Referenced by Trigger().

ComputeAccelerometer()

carla::geom::Vector3D CaService::ComputeAccelerometer ( const float  DeltaTime )

private

Definition at line 603 of file CaService.cpp.

References ComputeAccelerometerNoise(), mActorOwner, mVehicle, PrevDeltaTime, and PrevLocation.

Referenced by AddBasicVehicleContainerHighFrequency().

ComputeAccelerometerNoise()

const carla::geom::Vector3D CaService::ComputeAccelerometerNoise ( const FVector &  Accelerometer ) const

private

Definition at line 590 of file CaService.cpp.

References URandomEngine::GetNormalDistribution(), mRandomEngine, and StdDevAccel.

Referenced by ComputeAccelerometer().

ComputeSpeed()

float CaService::ComputeSpeed ( ) const

private

Definition at line 649 of file CaService.cpp.

References URandomEngine::GetNormalDistribution(), ACarlaWheeledVehicle::GetVehicleForwardSpeed(), mRandomEngine, mVehicle, and VelocityDeviation.

Referenced by AddBasicVehicleContainerHighFrequency().

ComputeYawNoise()

const float CaService::ComputeYawNoise ( const FVector &  Gyroscope ) const

private

Definition at line 692 of file CaService.cpp.

References URandomEngine::GetNormalDistribution(), mRandomEngine, YawrateBias, and YawrateDeviation.

Referenced by ComputeYawRate().

ComputeYawRate()

float CaService::ComputeYawRate ( ) const

private

Definition at line 665 of file CaService.cpp.

References CarlaGetActorAngularVelocityInRadians(), ComputeYawNoise(), and mActorOwner.

Referenced by AddBasicVehicleContainerHighFrequency().

CreateCooperativeAwarenessMessage()

CAM_t CaService::CreateCooperativeAwarenessMessage ( float  DeltaTime )

private

Definition at line 398 of file CaService.cpp.

References AddCooperativeAwarenessMessage(), CAM::cam, and CreateITSPduHeader().

Referenced by GenerateCamMessage(), and Trigger().

CreateITSPduHeader()

void CaService::CreateITSPduHeader ( CAM_t &  message )

private

Definition at line 408 of file CaService.cpp.

References CAM::header, ITSContainer::ItsPduHeader::messageID, mMessageId, mProtocolVersion, mStationId, ITSContainer::ItsPduHeader::protocolVersion, and ITSContainer::ItsPduHeader::stationID.

Referenced by CreateCooperativeAwarenessMessage().

GenerateCamMessage()

void CaService::GenerateCamMessage ( float  DeltaTime )

private

Definition at line 235 of file CaService.cpp.

References CreateCooperativeAwarenessMessage(), mCAMMessage, mElapsedTime, mLastCamHeading, mLastCamPosition, mLastCamSpeed, mLastCamTimeStamp, VehicleHeading, VehiclePosition, and VehicleSpeed.

Referenced by CheckTriggeringConditions().

GetCamMessage()

CAM_t CaService::GetCamMessage

(

)

const

Definition at line 155 of file CaService.cpp.

References mCAMMessage.

GetFVectorAngle()

double CaService::GetFVectorAngle ( const FVector &  a, const FVector &  b  ) const

private

Definition at line 229 of file CaService.cpp.

Referenced by CheckHeadingDelta().

GetHeading()

float CaService::GetHeading ( ) const

private

Definition at line 348 of file CaService.cpp.

References URandomEngine::GetNormalDistribution(), HeadingBias, HeadingDeviation, mActorOwner, mRandomEngine, and carla::geom::Math::ToDegrees().

Referenced by AddBasicVehicleContainerHighFrequency().

GetReferencePosition()

FVector CaService::GetReferencePosition ( ) const

private

Definition at line 320 of file CaService.cpp.

References carla::geom::GeoLocation::altitude, AltitudeBias, AltitudeDeviation, CurrentGeoProjection, UCarlaStatics::GetLargeMapManager(), URandomEngine::GetNormalDistribution(), carla::geom::GeoLocation::latitude, LatitudeBias, LatitudeDeviation, ALargeMapManager::LocalToGlobalLocation(), carla::geom::GeoLocation::longitude, LongitudeBias, LongitudeDeviation, mActorOwner, mRandomEngine, mWorld, and carla::geom::GeoProjection::TransformToGeoLocation().

Referenced by AddBasicContainer().

GetStationType()

ITSContainer::StationType_t CaService::GetStationType ( ) const

private

Definition at line 247 of file CaService.cpp.

References FActorInfo::Description, FCarlaActor::GetActorInfo(), FCarlaActor::GetActorType(), ATagger::GetTagOfTaggedComponent(), mCarlaActor, mVehicle, ITSContainer::StationType_bus, ITSContainer::StationType_cyclist, ITSContainer::StationType_lightTruck, ITSContainer::StationType_motorcycle, ITSContainer::StationType_passengerCar, ITSContainer::StationType_pedestrian, ITSContainer::StationType_roadSideUnit, ITSContainer::StationType_specialVehicles, ITSContainer::StationType_tram, ITSContainer::StationType_unknown, FActorDescription::Variations, and FCarlaActor::Vehicle.

Referenced by SetActor().

GetVehicleRole()

long CaService::GetVehicleRole ( ) const

private

Definition at line 374 of file CaService.cpp.

References mStationType, ITSContainer::StationType_bus, ITSContainer::StationType_cyclist, ITSContainer::StationType_moped, ITSContainer::StationType_motorcycle, ITSContainer::StationType_specialVehicles, ITSContainer::StationType_tram, ITSContainer::VehicleRole_default, ITSContainer::VehicleRole_emergency, and ITSContainer::VehicleRole_publicTransport.

Referenced by AddLowFrequencyContainer().

SetAccelerationStandardDeviation()

void CaService::SetAccelerationStandardDeviation

(

const FVector &

Vec

)

Definition at line 468 of file CaService.cpp.

References StdDevAccel.

SetActor()

void CaService::SetActor	(	UWorld *	world,
		AActor *	Owner
	)

Definition at line 52 of file CaService.cpp.

References CurrentGeoProjection, UCarlaEpisode::FindCarlaActor(), FCarlaActor::GetActorId(), FCarlaActor::GetActorType(), UCarlaStatics::GetCurrentEpisode(), UCarlaEpisode::GetElapsedGameTime(), UCarlaEpisode::GetGeoProjection(), GetStationType(), mActorOwner, mCarlaActor, mCarlaEpisode, mDccRestriction, mElapsedTime, mGenCamMax, mGenerationInterval, mLastCamHeading, mLastCamPosition, mLastCamSpeed, mLastCamTimeStamp, mLastLowCamTimeStamp, mStationId, mStationType, mVehicle, mWorld, PrevDeltaTime, PrevLocation, scLowFrequencyContainerInterval, FCarlaActor::Sensor, FCarlaActor::TrafficLight, FCarlaActor::TrafficSign, FCarlaActor::Vehicle, VehicleHeading, VehiclePosition, and VehicleSpeed.

SetGNSSDeviation()

void CaService::SetGNSSDeviation	(	const float	noise_lat_stddev,
		const float	noise_lon_stddev,
		const float	noise_alt_stddev,
		const float	noise_head_stddev,
		const float	noise_lat_bias,
		const float	noise_lon_bias,
		const float	noise_alt_bias,
		const float	noise_head_bias
	)

Definition at line 473 of file CaService.cpp.

References AltitudeBias, AltitudeDeviation, HeadingBias, HeadingDeviation, LatitudeBias, LatitudeDeviation, LongitudeBias, and LongitudeDeviation.

SetParams()

void CaService::SetParams	(	const float	GenCamMin,
		const float	GenCamMax,
		const bool	FixedRate
	)

Definition at line 116 of file CaService.cpp.

References mFixedRate, mGenCam, mGenCamMax, and mGenCamMin.

SetVelDeviation()

void CaService::SetVelDeviation

(

const float

noise_vel_stddev_x

)

Definition at line 492 of file CaService.cpp.

References VelocityDeviation.

SetYawrateDeviation()

void CaService::SetYawrateDeviation	(	const float	noise_yawrate_stddev,
		const float	noise_yawrate_bias
	)

Definition at line 497 of file CaService.cpp.

References YawrateBias, and YawrateDeviation.

Trigger()

bool CaService::Trigger

(

float

DeltaSeconds

)

Definition at line 131 of file CaService.cpp.

References CheckTriggeringConditions(), CreateCooperativeAwarenessMessage(), UCarlaEpisode::GetElapsedGameTime(), mCAMMessage, mCarlaEpisode, mElapsedTime, mGenerationInterval, mLastCamTimeStamp, mStationType, ITSContainer::StationType_roadSideUnit, and Trigger().

Referenced by Trigger().

Member Data Documentation

AltitudeBias

float CaService::AltitudeBias

private

Definition at line 108 of file CaService.h.

Referenced by GetReferencePosition(), and SetGNSSDeviation().

AltitudeDeviation

float CaService::AltitudeDeviation

private

Definition at line 103 of file CaService.h.

Referenced by GetReferencePosition(), and SetGNSSDeviation().

CurrentGeoProjection

carla::geom::GeoProjection CaService::CurrentGeoProjection

private

Definition at line 100 of file CaService.h.

Referenced by GetReferencePosition(), and SetActor().

HeadingBias

float CaService::HeadingBias

private

Definition at line 109 of file CaService.h.

Referenced by GetHeading(), and SetGNSSDeviation().

HeadingDeviation

float CaService::HeadingDeviation

private

Definition at line 104 of file CaService.h.

Referenced by GetHeading(), and SetGNSSDeviation().

LatitudeBias

float CaService::LatitudeBias

private

Definition at line 106 of file CaService.h.

Referenced by GetReferencePosition(), and SetGNSSDeviation().

LatitudeDeviation

float CaService::LatitudeDeviation

private

Definition at line 101 of file CaService.h.

Referenced by GetReferencePosition(), and SetGNSSDeviation().

LongitudeBias

float CaService::LongitudeBias

private

Definition at line 107 of file CaService.h.

Referenced by GetReferencePosition(), and SetGNSSDeviation().

LongitudeDeviation

float CaService::LongitudeDeviation

private

Definition at line 102 of file CaService.h.

Referenced by GetReferencePosition(), and SetGNSSDeviation().

mActorOwner

AActor* CaService::mActorOwner {nullptr}

private

Definition at line 43 of file CaService.h.

Referenced by AddBasicVehicleContainerHighFrequency(), ComputeAccelerometer(), ComputeYawRate(), GetHeading(), GetReferencePosition(), and SetActor().

mCAMMessage

CAM_t CaService::mCAMMessage

private

Definition at line 128 of file CaService.h.

Referenced by GenerateCamMessage(), GetCamMessage(), and Trigger().

mCarlaActor

FCarlaActor* CaService::mCarlaActor {nullptr}

private

Definition at line 44 of file CaService.h.

Referenced by CarlaActorInitialized(), GetStationType(), and SetActor().

mCarlaEpisode

UCarlaEpisode* CaService::mCarlaEpisode {nullptr}

private

Definition at line 45 of file CaService.h.

Referenced by AddCooperativeAwarenessMessage(), SetActor(), and Trigger().

mDccRestriction

bool CaService::mDccRestriction

private

Definition at line 55 of file CaService.h.

Referenced by CheckTriggeringConditions(), and SetActor().

mElapsedTime

double CaService::mElapsedTime

private

Definition at line 53 of file CaService.h.

Referenced by AddCooperativeAwarenessMessage(), CheckTriggeringConditions(), GenerateCamMessage(), SetActor(), and Trigger().

mFixedRate

bool CaService::mFixedRate

private

Definition at line 56 of file CaService.h.

Referenced by CheckTriggeringConditions(), and SetParams().

mGenCam

float CaService::mGenCam

private

Definition at line 52 of file CaService.h.

Referenced by CheckTriggeringConditions(), and SetParams().

mGenCamLowDynamicsCounter

unsigned int CaService::mGenCamLowDynamicsCounter {0}

private

Definition at line 57 of file CaService.h.

Referenced by CheckTriggeringConditions().

mGenCamLowDynamicsLimit

unsigned int CaService::mGenCamLowDynamicsLimit {3}

private

Definition at line 58 of file CaService.h.

Referenced by CheckTriggeringConditions().

mGenCamMax

float CaService::mGenCamMax

private

Definition at line 51 of file CaService.h.

Referenced by CheckTriggeringConditions(), SetActor(), and SetParams().

mGenCamMin

float CaService::mGenCamMin

private

Definition at line 50 of file CaService.h.

Referenced by CheckTriggeringConditions(), and SetParams().

mGenDeltaTimeMod

float CaService::mGenDeltaTimeMod

private

Definition at line 54 of file CaService.h.

mGenerationDelta0

std::chrono::milliseconds CaService::mGenerationDelta0

private

Definition at line 68 of file CaService.h.

Referenced by AddCooperativeAwarenessMessage(), and CaService().

mGenerationInterval

float CaService::mGenerationInterval

private

Definition at line 59 of file CaService.h.

Referenced by SetActor(), and Trigger().

mLastCamHeading

FVector CaService::mLastCamHeading

private

Definition at line 67 of file CaService.h.

Referenced by CheckHeadingDelta(), GenerateCamMessage(), and SetActor().

mLastCamPosition

FVector CaService::mLastCamPosition

private

Definition at line 65 of file CaService.h.

Referenced by CheckPositionDelta(), GenerateCamMessage(), and SetActor().

mLastCamSpeed

float CaService::mLastCamSpeed

private

Definition at line 66 of file CaService.h.

Referenced by CheckSpeedDelta(), GenerateCamMessage(), and SetActor().

mLastCamTimeStamp

float CaService::mLastCamTimeStamp

private

Definition at line 48 of file CaService.h.

Referenced by CheckTriggeringConditions(), GenerateCamMessage(), SetActor(), and Trigger().

mLastLowCamTimeStamp

float CaService::mLastLowCamTimeStamp

private

Definition at line 49 of file CaService.h.

Referenced by AddCooperativeAwarenessMessage(), and SetActor().

mMessageId

const long CaService::mMessageId = ITSContainer::messageID_cam

private

Definition at line 83 of file CaService.h.

Referenced by CreateITSPduHeader().

mProtocolVersion

const long CaService::mProtocolVersion = 2

private

Definition at line 82 of file CaService.h.

Referenced by CreateITSPduHeader().

mRandomEngine

URandomEngine* CaService::mRandomEngine

private

Definition at line 131 of file CaService.h.

Referenced by CaService(), ComputeAccelerometerNoise(), ComputeSpeed(), ComputeYawNoise(), GetHeading(), and GetReferencePosition().

mStationId

long CaService::mStationId

private

Definition at line 84 of file CaService.h.

Referenced by CreateITSPduHeader(), and SetActor().

mStationType

long CaService::mStationType

private

Definition at line 85 of file CaService.h.

Referenced by AddBasicContainer(), GetVehicleRole(), SetActor(), and Trigger().

mVehicle

ACarlaWheeledVehicle* CaService::mVehicle {nullptr}

private

Definition at line 47 of file CaService.h.

Referenced by AddBasicVehicleContainerHighFrequency(), AddLowFrequencyContainer(), CheckHeadingDelta(), CheckPositionDelta(), CheckSpeedDelta(), ComputeAccelerometer(), ComputeSpeed(), GetStationType(), and SetActor().

mWorld

UWorld* CaService::mWorld {nullptr}

private

Definition at line 46 of file CaService.h.

Referenced by GetReferencePosition(), and SetActor().

PrevDeltaTime

float CaService::PrevDeltaTime

private

Used to compute the acceleration.

Definition at line 96 of file CaService.h.

Referenced by ComputeAccelerometer(), and SetActor().

PrevLocation

std::array<FVector, 2> CaService::PrevLocation

private

Used to compute the acceleration.

Definition at line 93 of file CaService.h.

Referenced by ComputeAccelerometer(), and SetActor().

StdDevAccel

FVector CaService::StdDevAccel

private

Standard deviation for acceleration settings.

Definition at line 90 of file CaService.h.

Referenced by ComputeAccelerometerNoise(), and SetAccelerationStandardDeviation().

VehicleHeading

FVector CaService::VehicleHeading

private

Definition at line 63 of file CaService.h.

Referenced by CheckHeadingDelta(), GenerateCamMessage(), and SetActor().

VehiclePosition

FVector CaService::VehiclePosition

private

Definition at line 62 of file CaService.h.

Referenced by CheckPositionDelta(), GenerateCamMessage(), and SetActor().

VehicleSpeed

float CaService::VehicleSpeed

private

Definition at line 61 of file CaService.h.

Referenced by CheckSpeedDelta(), GenerateCamMessage(), and SetActor().

VelocityDeviation

float CaService::VelocityDeviation

private

Definition at line 113 of file CaService.h.

Referenced by ComputeSpeed(), and SetVelDeviation().

YawrateBias

float CaService::YawrateBias

private

Definition at line 119 of file CaService.h.

Referenced by ComputeYawNoise(), and SetYawrateDeviation().

YawrateDeviation

float CaService::YawrateDeviation

private

Definition at line 118 of file CaService.h.

Referenced by ComputeYawNoise(), and SetYawrateDeviation().

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The documentation for this class was generated from the following files:

• CaService.h
• CaService.cpp